Science Robotics

Supplementary Materials

The PDF file includes:

  • Section S1. Related work
  • Section S2. Experimental robot platform
  • Section S3. Training the self-model
  • Section S4. Results
  • Section S5. Self-model adaptation to damage
  • Section S6. Limitations
  • Fig. S1. The robot and data used for this study.
  • Fig. S2. Self-modeling process.
  • Fig. S3. Self-model architecture and training.
  • Fig. S4. Two tasks.
  • Fig. S5. Accuracy degradation.
  • Fig. S6. Diagram of the reach of the WidowX robot arm taken from Trossen Robotics.
  • Fig. S7. Rendering of the CAD model used to 3D-print the deformed arm length.
  • Fig. S8. Analytical model position versus physical robot position.
  • Fig. S9. The distribution of accuracies when using the forward kinematics model.
  • Fig. S10. The distribution of accuracies visualized onto the reachable space.
  • Fig. S11. The forward kinematics learner architecture.
  • Table S1. Summary of results of trajectory planning and pick-and-place tests.
  • Table S2. Joint position.
  • Table S3. Table of model parameters in the model used to conduct all self-modeling tests.
  • Table S4. Table of positions the arm was instructed to go to in the pick-and-place test.
  • References (916).
  • Data S1. 3D printed part model .stl file.
  • Legend for Movie S1

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Overview video.

Files in this Data Supplement: